CN114305225B - Garbage capacity detection method and system for garbage can of sweeping robot - Google Patents
Garbage capacity detection method and system for garbage can of sweeping robot Download PDFInfo
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Abstract
The invention discloses a garbage capacity detection method and a garbage capacity detection system for a garbage can of a sweeping robot, wherein the capacity detection method comprises the following steps: acquiring a height difference between the ultrasonic sensor and the bottom of the dustbin and recording the height difference as a first height difference; transmitting ultrasonic waves to the garbage in the garbage can through an ultrasonic sensor, and acquiring reflected waves reflected by the surface of the garbage; extracting an amplitude spectrum from a reflected wave acquired by an ultrasonic sensor through Fourier transform; calculating according to the amplitude spectrum to obtain the height difference between the ultrasonic sensor and the surface of the garbage in the garbage can and recording the height difference as a second height difference; and calculating the garbage capacity in the garbage can according to the following formula. According to the technical scheme, external sound, vibration generated by the sweeping robot in the moving process, resonance of parts and other interferences can be eliminated, simple, rapid, efficient and accurate analysis is carried out, and the garbage capacity with better accuracy can be obtained.
Description
Technical Field
The invention relates to the technical field of dustbin capacity detection, in particular to a garbage capacity detection method and a garbage capacity detection system for a sweeping robot dustbin.
Background
The floor sweeping robot is also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work on the ground by means of certain artificial intelligence. The floor sweeping robot reduces the labor cost and improves the efficiency. With the development of science and technology in recent years, cleaning workers are gradually replaced by the sweeping robot in the treatment operation of urban environment, and simple and heavy work is performed. The sensor is arranged on the dustbin of the sweeping robot and used for detecting the garbage capacity of the dustbin and avoiding the dustbin from being full and being self-aware. The detection mode of the garbage capacity of the existing garbage can is that a laser sensor is used for detecting the distance, and the garbage can is only suitable for detecting the capacity of a static garbage can because dust has a large influence on light. The existing garbage bin detects the garbage capacity by using an ultrasonic sensor to detect the distance, but the echo is interfered by the sound of a dust collection motor, a walking motor, a brush and other components, so that the result is inaccurate.
Disclosure of Invention
Therefore, a method and a system for detecting the garbage capacity of the garbage can of the sweeping robot are needed to solve the problem that the garbage capacity of the garbage can is inaccurate in detection mode.
In order to achieve the above object, the present embodiment provides a method for detecting a garbage capacity of a garbage can of a cleaning robot, including the following steps:
acquiring a height difference between the ultrasonic sensor and the bottom of the dustbin and recording the height difference as a first height difference;
transmitting ultrasonic waves to the garbage in the garbage can through the ultrasonic sensor, and acquiring reflected waves reflected by the surface of the garbage;
extracting an amplitude spectrum from a reflected wave acquired by an ultrasonic sensor through Fourier transform;
calculating according to the amplitude spectrum to obtain the height difference between the ultrasonic sensor and the surface of the garbage in the garbage can and recording the height difference as a second height difference;
calculating the garbage capacity in the garbage can according to the following formula:
S＝(x1-y)/x2
in the formula, S is the garbage capacity, x1 is the first height difference, x2 is the height of the garbage can, and y is the second height difference.
Further, the method also comprises the following steps:
the number of the ultrasonic sensors is 2, the 2 ultrasonic sensors are respectively a first ultrasonic sensor and a second ultrasonic sensor, ultrasonic waves are transmitted to the garbage in the garbage can through the first ultrasonic sensor, and then reflected waves reflected by the surface of the garbage are obtained through the second ultrasonic sensor.
Further, the method also comprises the following steps:
the number of the ultrasonic sensors is 2, the 2 ultrasonic sensors are respectively a first ultrasonic sensor and a second ultrasonic sensor, ultrasonic waves are transmitted to the garbage in the garbage can through the first ultrasonic sensor, the first ultrasonic sensor obtains reflected waves reflected by the surface of the garbage, and the ultrasonic waves are transmitted to the garbage in the garbage can through the second ultrasonic sensor, and the second ultrasonic sensor obtains the reflected waves reflected by the surface of the garbage.
Further, the height between the first ultrasonic sensor and the bottom of the dustbin is the same as the height between the second ultrasonic sensor and the bottom of the dustbin.
Further, after the step of "extracting an amplitude spectrum from the reflected wave acquired by the ultrasonic sensor by fourier transform", the method further includes the steps of:
extracting a curve of which the amplitude is greater than a threshold detection line in the amplitude spectrum;
when the step "calculate the height difference between the ultrasonic sensor and the garbage surface in the garbage bin according to the amplitude spectrum and record the height difference as a second height difference", the method further comprises the following steps:
and calculating the height difference between the ultrasonic sensor and the surface of the garbage in the garbage bin according to the curve with the amplitude larger than the threshold value wave detection line, and recording the height difference as a second height difference.
Further, in the step of "extracting an amplitude spectrum from the reflected wave acquired by the ultrasonic sensor by fourier transform", the method further includes the steps of:
firstly, sampling reflected waves acquired by an ultrasonic sensor through a high-speed ADC sampling module;
and then extracting an amplitude spectrum from the reflected wave sampled by the high-speed ADC sampling module through Fourier transform.
Further, the method also comprises the following steps:
and repeating the steps to obtain a plurality of garbage capacities, calculating an average value of the plurality of garbage capacities, and taking the average value as the garbage capacity.
Further, before the step of emitting ultrasonic waves to the garbage in the garbage bin through the ultrasonic sensor and acquiring the ultrasonic waves reflected by the surface of the garbage, the method further comprises the following steps:
the dustbin is vibrated by the vibration mechanism.
Further, the method also comprises the following steps:
and judging whether the sweeping robot is in a sweeping mode, if so, transmitting ultrasonic waves to the garbage in the garbage can through the ultrasonic sensor.
In order to achieve the above object, the present embodiment further provides a system for detecting a volume of a dustbin of a sweeping robot, including the dustbin arranged inside the sweeping robot, an ultrasonic sensor, and a processing unit;
the ultrasonic sensor is positioned above the bottom of the dustbin, the processing unit is connected with the ultrasonic sensor, and the processing unit is used for executing any one of the above garbage capacity detection methods for the dustbin of the sweeping robot.
Be different from prior art, among the above-mentioned technical scheme, ultrasonic sensor can detect the object of multiclass (such as disposal bag, leaf, food, books etc.), and detection effect is preferred. The amplitude frequency spectrum is extracted from the reflected wave through Fourier transform, so that the interferences of external sound, vibration generated in the moving process of the sweeping robot, resonance of parts and the like can be eliminated, the information of the required frequency in the reflected wave can be accurately obtained, then, the information in the reflected wave is simply, quickly, efficiently and accurately analyzed, and the garbage capacity with better accuracy can be obtained.
Drawings
Fig. 1 is a flowchart of a garbage capacity detecting method according to the present embodiment;
FIG. 2 is a diagram illustrating a Fourier function in this embodiment;
FIG. 3 is a second flowchart of the garbage volume detecting method of the present embodiment;
FIG. 4 is a third flowchart of the garbage capacity detecting method according to the present embodiment;
FIG. 5 is a fourth flowchart of the garbage capacity detecting method according to the present embodiment;
fig. 6 is a schematic structural diagram illustrating that the first ultrasonic sensor and the second ultrasonic sensor detect a second height difference in the present embodiment;
FIG. 7 is a diagram illustrating an exemplary structure of an amplitude spectrogram and a threshold detection line;
FIG. 8 is a second schematic diagram of the structure of the amplitude spectrogram and the threshold detection line in this embodiment;
FIG. 9 is a schematic view showing different intensities of ultrasonic waves in this embodiment;
FIG. 10 is a schematic view showing the ultrasonic waves of the first intensity, the 0 intensity and the second intensity in sequence in the first interval, the second interval and the third interval in this embodiment;
FIG. 11 is a schematic diagram showing the ultrasonic waves of the second intensity, the first intensity and the first intensity in sequence in the first interval, the second interval and the third interval in the present embodiment;
fig. 12 is a schematic diagram of ultrasonic waves of the second intensity, 0 intensity, and first intensity in this example in the order of the first section, the second section, and the third section.
Description of reference numerals:
1. a first ultrasonic sensor;
2. a second ultrasonic sensor;
3. a garbage can is provided.
Detailed Description
In order to explain in detail possible application scenarios, technical principles, practical embodiments, and the like of the present application, the following detailed description is given with reference to the accompanying drawings in conjunction with the listed embodiments. The embodiments described herein are only used for clearly illustrating the technical solutions of the present application, and therefore are only used as examples, and the scope of the present application is not limited thereby.
Referring to fig. 1 to 12, the method for detecting the garbage capacity of the garbage bin of the sweeping robot in the embodiment can detect the garbage bin capacity of the sweeping robot in the moving process. The method for detecting the capacity of the dustbin comprises the following steps:
step S102, the processing unit acquires the height difference between the ultrasonic sensor and the bottom of the dustbin and records the height difference as a first height difference, and the processing unit acquires the height between the ultrasonic sensor and the bottom of the dustbin. Generally, the ultrasonic sensor is placed above the bottom of the dustbin, and the bottom of the dustbin is flatly placed inside the sweeping robot. The ultrasonic sensor is a device that detects using ultrasonic waves (20000 Hz or more) that are not audible to the human ear as a detection source. The transmitter of the ultrasonic sensor transmits ultrasonic waves to a certain direction, the timer of the ultrasonic sensor starts timing at the same time of transmitting time, the ultrasonic waves are transmitted in the air and return immediately when encountering the surface of the garbage in the garbage can on the way, and the receiver of the ultrasonic sensor stops timing immediately when receiving the reflected waves. According to the time recorded by the timer, the distance between the transmitting point and the obstacle can be calculated.
Step S103, the processing unit transmits ultrasonic waves to the garbage in the garbage bin through the ultrasonic sensor and obtains reflected waves reflected by the surface of the garbage.
In step S105, the processing unit extracts an amplitude spectrum from the reflected wave acquired by the ultrasonic sensor by fourier transform. The fourier transform means that a certain function satisfying a certain condition can be expressed as a trigonometric function (sine and/or cosine function) or a linear combination of their integrals, and the function of the fourier function is shown in fig. 2. The amplitude spectrum refers to the variation of the amplitude of the individual components with frequency.
And S107, calculating according to the amplitude spectrum to obtain the height difference between the ultrasonic sensor and the garbage surface in the garbage can, and recording the height difference as a second height difference.
Step S108, calculating the garbage capacity in the garbage can according to the following formula:
S＝(x1-y)/x2
in the formula, S is the garbage capacity, x1 is the first height difference, x2 is the height of the garbage can, and y is the second height difference, wherein the height of the garbage can is the distance between the bottom of the garbage can and the top opening of the garbage can, and the height occupied by the garbage can which is just evenly stacked is also represented.
Referring to fig. 6, the ultrasonic sensor may be one of the first ultrasonic sensor 1 and the second ultrasonic sensor 2, both of which are located above the dustbin 3, the first height difference is denoted as x1, the second height difference is denoted as y, and the height of the dustbin is denoted as x2. Assuming that x1=50 cm, x2=40 cm, and y =30 cm, the trash capacity = (50-30)/40 =0.5, which means that the trash occupies half of the total trash bin capacity.
Among the above-mentioned technical scheme, ultrasonic sensor can detect the object of multiclass (such as disposal bag, leaf, food, books etc.), and detection effect is preferred. The amplitude spectrum is extracted from the reflected wave through Fourier transform, so that the interferences of external sound, vibration generated by the sweeping robot in the moving process, resonance of components and the like can be eliminated, the information of the required frequency in the reflected wave can be accurately acquired, then, the information in the reflected wave can be simply, quickly, efficiently and accurately analyzed, and the garbage capacity with better accuracy can be acquired.
In this embodiment, the sweeping robot generates interference in the sound of the dust collection motor, the walking motor, the brush and other components during the movement, the ultrasonic sensor adopts the frequency of 40KHz (kilohertz), and then the fourier transform is adopted to extract the amplitude spectrum of 40KHz, and the interference of other frequency points, such as signals of 20KHz, 58KHz, 80KHz and the like, is easily eliminated. Fourier transform can simply, quickly, efficiently and accurately analyze information in the reflected waves and reduce signal interference in the reflected waves. In addition, the Fourier transform can also eliminate the interference of direct current signals, and the frequency of the direct current signals is 0Hz frequency spectrum.
In this embodiment, the garbage bins of the sweeping robot are filled with different types of garbage, the height of the garbage surface is uneven, if only one ultrasonic sensor is used for detection, the efficiency is low, and the error is increased. In order to further improve the accuracy of the first height difference, the capacity detection method further comprises the following steps: the number of the ultrasonic sensors is 2, the 2 ultrasonic sensors are respectively a first ultrasonic sensor and a second ultrasonic sensor, the processing unit transmits ultrasonic waves to the garbage in the garbage can through one of the first ultrasonic sensor and the second ultrasonic sensor, and the processing unit obtains reflected waves reflected by the surface of the garbage through one of the first ultrasonic sensor and the second ultrasonic sensor. The first ultrasonic sensor is an integrated ultrasonic sensor and includes a transmitter, a receiver, and a timer, and the second ultrasonic sensor is an integrated ultrasonic sensor and includes a transmitter, a receiver, and a timer.
The first method is as follows: as shown in step S103 of fig. 5, the processing unit transmits ultrasonic waves to the garbage at a certain position through the first ultrasonic sensor, and then the processing unit acquires reflected waves reflected by the surface of the garbage through the first ultrasonic sensor. In addition, the processing unit transmits ultrasonic waves to the garbage at a certain position through the second ultrasonic sensor, and then the processing unit acquires reflected waves reflected by the surface of the garbage through the second ultrasonic sensor.
The second method is as follows: as shown in step S103 of fig. 4, the processing unit transmits ultrasonic waves to the garbage at a certain position through the first ultrasonic sensor, and then the processing unit acquires reflected waves reflected by the surface of the garbage through the second ultrasonic sensor. Or the processing unit transmits ultrasonic waves to the garbage at a certain position through the second ultrasonic sensor, and then the processing unit acquires reflected waves reflected by the surface of the garbage through the first ultrasonic sensor.
It should be noted that a plurality of data of the second height difference and a plurality of data of the trash capacity can be obtained by two ultrasonic sensors. For example: a second height difference (marked as a second height difference a) between a detection point (marked as a first detection point) positioned in the left direction of the first ultrasonic sensor and the first ultrasonic sensor can be detected through the first ultrasonic sensor independently, and then garbage capacity data can be calculated through the second height difference a; continuously and independently detecting a second height difference (marked as a second height difference b) between a detection point (marked as a second detection point) positioned in the right side direction of the second ultrasonic sensor and the second ultrasonic sensor through the second ultrasonic sensor, and then calculating to obtain garbage capacity data through the second height difference b; then, a second height difference (marked as a second height difference c) between a detection point (marked as a third detection point) positioned between the first ultrasonic sensor and the second ultrasonic sensor and the first ultrasonic sensor can be detected through the matching of the first ultrasonic sensor and the second ultrasonic sensor, and then a piece of garbage capacity data can be calculated through the second height difference c; and finally, calculating the average value of the three garbage capacities, and taking the average value as the garbage capacity. Therefore, the detection method can calculate the garbage capacity with more accurate result, and the garbage can is prevented from being self-known due to the fact that a large amount of garbage is accumulated. In addition, the distribution of each detection point in the garbage can be inferred probabilistically in the manner described above.
Referring to fig. 6, preferably, the height between the first ultrasonic sensor and the bottom of the dustbin is the same as the height between the second ultrasonic sensor and the bottom of the dustbin, so that the second height difference is easy to calculate. Because the first ultrasonic sensor and the second ultrasonic sensor are positioned on the same plane at the moment, and the plane is parallel to the plane where the bottom of the dustbin is positioned. An isosceles triangle is formed between the first ultrasonic sensor and the detection point, and the second height difference can be calculated according to the distance (the length of the bottom side of the triangle) between the first ultrasonic sensor and the second ultrasonic sensor and the distance (the length of the waist of the triangle) between the first ultrasonic sensor and the detection point which are obtained in advance.
In some embodiments, the height between the first ultrasonic sensor and the bottom of the dustbin may be different from the height between the second ultrasonic sensor and the bottom of the dustbin, i.e. the first ultrasonic sensor and the second ultrasonic sensor are arranged one above the other.
It should be noted that the detection angle of the first ultrasonic sensor and the second ultrasonic sensor covers the whole trash can, so that the two ultrasonic sensors can detect multiple positions.
In this embodiment, after the step "the processing unit extracts an amplitude spectrum from the reflected wave acquired by the ultrasonic sensor by fourier transform", the method further includes the steps of: step 106, extracting a curve with an amplitude greater than a threshold detection line in the amplitude spectrum, as shown in fig. 3, 4, and 5. And when the step of calculating the height difference between the ultrasonic sensor and the garbage surface in the garbage can according to the amplitude spectrum and marking the height difference as a second height difference, the method further comprises the following steps of: and 107, calculating the height difference between the ultrasonic sensor and the surface of the garbage in the garbage bin according to the curve with the amplitude larger than the threshold detection line, and marking the height difference as a second height difference, as shown in fig. 3, 4 and 5.
Referring to fig. 6, 7 and 8, the threshold detection line configures a trigger value according to the weak far-distance signal, the strong near-distance signal and some interference signals, the threshold detection line can be set according to requirements, the processing unit can cut a desired ultrasonic wave emission angle through the threshold detection line, and the ultrasonic wave emission angle is an included angle between the emission wave and a vertical plane. The amplitude values corresponding to the threshold detection lines in fig. 7 are greater than the amplitude values corresponding to the threshold detection lines in fig. 8. Preferably, the angle of the ultrasonic emission is below 30 °, that is, the detection range of the first ultrasonic sensor is below 30 °; or: the detection range of the second ultrasonic sensor is below 30 °. The larger the amplitude corresponding to the threshold detection line is, the smaller the ultrasonic wave emission angle corresponding to the curve extracted with the amplitude larger than the threshold detection line is, and the smaller the ultrasonic wave emission angle is, the smaller the area of the detection point acted by the ultrasonic wave is; the larger the angle at which the ultrasonic wave is emitted, the larger the area of the probe point on which the ultrasonic wave acts. The angle of the ultrasonic emission corresponds to θ in the amplitude spectrum, as shown in fig. 6, 7 and 8. Therefore, the detection method can flexibly adjust the function of the ultrasonic emission angle and is suitable for garbage cans in different shapes, and the detection method with higher precision is required because the height and the width of the garbage can in the sweeping robot are lower.
In the present embodiment, in the step "extracting an amplitude spectrum from a reflected wave acquired by an ultrasonic sensor by fourier transform", the detection method further includes the steps of: step 104, firstly, sampling the reflected wave obtained by the ultrasonic sensor through a high-speed ADC (Analog-to-Digital Converter) sampling module, as shown in fig. 3, 4 and 5; step 105, an amplitude spectrum is then extracted from the reflected wave sampled by the high-speed ADC sampling module by fourier transform, as shown in fig. 3, 4 and 5. The high speed ADC sampling module does not typically cause additional noise and signal distortion during processing. It should be noted that the signal of the reflected wave acquired by the ultrasonic sensor may be sent to the high-speed ADC sampling module through the receiving and amplifying circuit. After sampling, fourier transform is carried out to extract the frequency spectrum of the appointed signal.
In some embodiments, the reflected wave obtained by the ultrasonic sensor can be sampled by means of diode voltage-multiplying detection and voltage comparator detection, but the effect is not as good as that of the high-speed ADC sampling module. Diode voltage doubling detection has the disadvantages that the detection input voltage requirement is relatively high, the germanium diode can work only at 0.2-0.3V (volt), and the interference of a direct current signal cannot be eliminated. The detection by using the voltage comparator has the disadvantage that although the detection input voltage can be set to be relatively low, the detection input voltage cannot be filtered out without direct current signal interference.
In this embodiment, the detection method further includes the following steps: and step 109, repeating the above steps to obtain a plurality of garbage capacities, calculating an average value of the plurality of garbage capacities, and taking the average value as the garbage capacity. When the number of the ultrasonic sensors is one, a plurality of garbage capacities are obtained through multiple measurements, and then the garbage capacities are averaged to obtain the final accurate garbage capacity. When the number of the ultrasonic sensors is 2, at least one garbage capacity is obtained through calculation according to the second height difference measured by the first sensor, and then the final garbage capacity is obtained through averaging. Therefore, errors caused by detection can be reduced, and the garbage capacity is more accurate.
In this embodiment, before the step "emitting ultrasonic waves to the waste in the waste bin through the ultrasonic sensor and acquiring the ultrasonic waves reflected by the surface of the waste" is performed, the detection method further includes the following steps: the processing unit vibrates the dustbin through the vibration mechanism. It should be noted that the sweeping robot is in the dust vibration mode when the vibration mechanism is in operation. When the sweeping robot sucks garbage into the garbage can through the negative pressure mechanism, the garbage with different types is filled in the garbage can of the sweeping robot, and the garbage is unevenly distributed, so that more garbage is arranged on one side, and less garbage is arranged on the other side. The garbage can is periodically vibrated by the vibration mechanism, so that the surface of the garbage tends to be flat, and the difference of the second height difference measured by each ultrasonic sensor is small.
In this embodiment, the method further includes the following steps: step S101, judging whether the sweeping robot is in a sweeping mode, if so, entering step S102, and transmitting ultrasonic waves to garbage in a garbage can through an ultrasonic sensor; if not, the step S1021 is executed, and the garbage capacity is not detected. The cleaning mode refers to a mode that the sweeping robot adopts a brush sweeping and negative pressure mechanism to absorb the sundries on the ground into a garbage can of the sweeping robot, so that the ground is cleaned. When the sweeping robot is in a sweeping mode, the sweeping robot adsorbs garbage to enter a garbage can, and the ultrasonic radar can transmit ultrasonic waves to the garbage in the garbage can to detect the distance between the sweeping robot and the garbage so as to calculate the real-time capacity of the garbage; under the condition that the sweeping robot is in the dust vibration mode, the real-time capacity of garbage does not need to be calculated. Therefore, the operation time of the ultrasonic radar is reasonably arranged, the energy consumption of the sweeping robot can be reduced, and the service life of the single use of the sweeping robot is prolonged.
In the embodiment, the processing unit receives the bus state of the cleaning robot through a communication module (such as a CAN communication module, an RS485 communication module, a WI-FI module, etc.), and then obtains the running state of the cleaning robot. The running state of the sweeping robot comprises a sweeping mode, a dust vibration mode, a charging mode and the like. The processing unit is an electronic component with a data processing function, including but not limited to: a Micro Control Unit (MCU), a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a Digital Signal Processor (DSP).
The processing unit is connected with the ultrasonic sensors (the first ultrasonic sensor and the second ultrasonic sensor), and the processing unit controls the ultrasonic sensors (the first ultrasonic sensor and the second ultrasonic sensor) to operate. The processing unit is connected with the high-speed ADC sampling module and controls the high-speed ADC sampling module to sample. The processing unit is respectively connected with the communication module and used for acquiring the running state of the sweeping robot.
In this embodiment, when the ultrasonic sensor (the first ultrasonic sensor or the second ultrasonic sensor) emits ultrasonic waves, the method further includes the steps of: the ultrasonic sensor (the first ultrasonic sensor or the second ultrasonic sensor) emits ultrasonic waves with different intensities to the garbage in the garbage bin. Therefore, the first ultrasonic sensor or the second ultrasonic sensor sends the pulse as a special code, and then the echo can be recognized by self, so that the anti-interference capability is improved, and the interference of the sound of the parts such as the dust collection motor, the walking motor and the brush of the sweeping robot in the moving process is avoided.
Referring to fig. 9, in the present embodiment, the ultrasonic waves of different intensities include ultrasonic waves generated by combining a first intensity (indicated by 1) and a second intensity (indicated by 2) in a first interval (1 st), a second interval (2 nd), and a third interval (3 nd), and the first intensity is smaller than the second intensity. The first intensity represents the emission of ultrasonic waves with an intensity of 10V (volts), the second intensity represents the emission of ultrasonic waves with an intensity of 20V (volts), and 0 intensity represents the non-emission of ultrasonic waves; the first intensity represents that the ultrasonic wave of 5V (volt) intensity is emitted, the second intensity represents that the ultrasonic wave of 10V (volt) intensity is emitted, and 0 intensity represents that the ultrasonic wave is not emitted.
In this embodiment, there may be 27 combinations in the 3 sequential pulses, where the combinations starting with zero current level will be discarded, and in the remaining 18 codes, the two symbols containing the same value for all three are discarded identically. The remaining 16 codes all start with a non-zero current level and there is at least one transition as shown in fig. 9. These characteristic points ensure that any response packet has a transition at the beginning of the packet and that at least one transition in each response packet indicates that each 3-sequence encodes 4-bit information.
Specifically, the first ultrasonic sensor may transmit ultrasonic waves of the first intensity, 0 intensity, and the second intensity in sequence in the first section (e.g., 1st in fig. 10), the second section (e.g., 2nd in fig. 10), and the third section (e.g., 3nd in fig. 10), as shown in fig. 10; alternatively, the first ultrasonic sensor may transmit ultrasonic waves of the second intensity, the first intensity, and the first intensity in the order of the first interval (e.g., 1st of fig. 11), the second interval (e.g., 2nd of fig. 11), and the third interval (e.g., 3nd of fig. 11), as shown in fig. 11; alternatively, the first ultrasonic sensor may transmit ultrasonic waves \8230 \ 8230, which are sequentially the second intensity, 0 intensity and the first intensity in the first interval (e.g., 1st of fig. 12), the second interval (e.g., 2nd of fig. 12) and the third interval (e.g., 3nd of fig. 12)
In this embodiment, the processing module extracts a target waveform from the reflected wave when the reflected wave is received, where the target waveform is similar to the waveform of the transmitted ultrasonic wave, for example, the intensity of the transmitted wave is the first intensity, 0 intensity, and the second intensity shown in fig. 10, and then the shape of the target waveform is similar to the shape of the first intensity, 0 intensity, and the second intensity waveform.
In particular, the capacity measuring method can be used for detecting the capacity of the dustbin of the low-speed sweeping robot.
Referring to fig. 1 to 12, the present embodiment further provides a system for detecting a volume of a trash bin of a sweeping robot, including the trash bin disposed inside the sweeping robot, an ultrasonic sensor and a processing unit. The ultrasonic sensor is located above the bottom of the dustbin, the processing unit is connected with the ultrasonic sensor, and the processing unit is used for executing any one of the above garbage capacity detection methods for the dustbin of the sweeping robot, which is not described herein again.
In this embodiment, the processing unit is an electronic component with a data processing function, including but not limited to: a Micro Control Unit (MCU), a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a Digital Signal Processor (DSP).
In this embodiment, the processing unit starts the voltage selection by the booster pump circuit, and sends the ultrasonic signal to the ultrasonic sensor according to the parameters set by the encoding pulse.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or related to other embodiments specifically defined. In principle, in the present application, the technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution as long as there is no technical contradiction or conflict.
Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the use of relational terms herein is intended to describe specific embodiments only and is not intended to limit the present application.
In the description of the present application, the term "and/or" is a expression for describing a logical relationship between objects, meaning that three relationships may exist, for example a and/or B, meaning: there are three cases of A, B, and both A and B. In addition, the character "/" herein generally indicates that the former and latter associated objects are in a logical relationship of "or".
In this application, terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Without further limitation, in this application, the use of "including," "comprising," "having," or other similar expressions in phrases and expressions of "including," "comprising," or "having," is intended to cover a non-exclusive inclusion, and such expressions do not exclude the presence of additional elements in a process, method, or article that includes the recited elements, such that a process, method, or article that includes a list of elements may include not only those elements but also other elements not expressly listed or inherent to such process, method, or article.
As is understood in the "review guidelines," in this application, the terms "greater than," "less than," "more than," and the like are to be understood as excluding the number; the expressions "above", "below", "within" and the like are understood to include the present numbers. Furthermore, the description of embodiments herein of the present application of the term "plurality" means more than two (including two), and the analogous meaning of "plurality" is also to be understood, e.g., "plurality", etc., unless explicitly specified otherwise.
It should be noted that, although the above embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (10)
1. A garbage capacity detection method of a garbage can of a sweeping robot is characterized by comprising the following steps:
acquiring a height difference between the ultrasonic sensor and the bottom of the dustbin and recording the height difference as a first height difference;
transmitting ultrasonic waves to the garbage in the garbage can through the ultrasonic sensor, and acquiring reflected waves reflected by the surface of the garbage;
extracting an amplitude spectrum from a reflected wave acquired by an ultrasonic sensor through Fourier transform;
calculating according to the amplitude spectrum to obtain the height difference between the ultrasonic sensor and the surface of the garbage in the garbage can and recording the height difference as a second height difference;
calculating the garbage capacity in the garbage can according to the following formula:
S＝(x1-y)/x2
in the formula, S is the garbage capacity, x1 is a first height difference, x2 is the height of the garbage can, and y is a second height difference;
after the step of "extracting an amplitude spectrum from the reflected wave acquired by the ultrasonic sensor by fourier transform", the method further includes the steps of:
extracting a curve of which the amplitude is greater than a threshold detection line in the amplitude spectrum;
when the step "calculating according to the amplitude spectrum to obtain the height difference between the ultrasonic sensor and the garbage surface in the garbage can and marking the height difference as a second height difference", the method further comprises the following steps:
calculating the height difference between the ultrasonic sensor and the surface of the garbage in the garbage can according to the curve with the amplitude larger than the threshold value wave detection line, and recording the height difference as a second height difference;
the angle of the ultrasonic wave emitted by the ultrasonic sensor can be obtained by cutting through the threshold value wave detection line.
2. The method for detecting the garbage capacity of the garbage bin of the sweeping robot according to claim 1, characterized by further comprising the following steps:
the number of the ultrasonic sensors is 2, the 2 ultrasonic sensors are respectively a first ultrasonic sensor and a second ultrasonic sensor, ultrasonic waves are transmitted to the garbage in the garbage can through the first ultrasonic sensor, and then reflected waves reflected by the surface of the garbage are obtained through the second ultrasonic sensor.
3. The method for detecting the garbage capacity of the garbage bin of the sweeping robot according to claim 1, characterized by further comprising the following steps:
the number of the ultrasonic sensors is 2, the 2 ultrasonic sensors are respectively a first ultrasonic sensor and a second ultrasonic sensor, ultrasonic waves are transmitted to the garbage in the garbage can through the first ultrasonic sensor, the first ultrasonic sensor obtains reflected waves reflected by the surface of the garbage, and the ultrasonic waves are transmitted to the garbage in the garbage can through the second ultrasonic sensor, and the second ultrasonic sensor obtains the reflected waves reflected by the surface of the garbage.
4. The method for detecting the garbage capacity of the garbage can of the sweeping robot according to claim 2 or 3, wherein the height between the first ultrasonic sensor and the bottom of the garbage can is the same as the height between the second ultrasonic sensor and the bottom of the garbage can.
5. The method for detecting the garbage capacity of the garbage bin of the sweeping robot according to claim 4, characterized by further comprising the following steps:
and repeating the steps to obtain a plurality of garbage capacities, calculating the average value of the garbage capacities, and taking the average value as the garbage capacity.
6. The method for detecting the garbage capacity of the garbage bin of the sweeping robot according to claim 1, wherein in the step of extracting the amplitude spectrum from the reflected waves obtained by the ultrasonic sensor through fourier transform, the method further comprises the following steps:
firstly, sampling reflected waves acquired by an ultrasonic sensor through a high-speed ADC (analog-to-digital converter) sampling module;
and then extracting an amplitude spectrum from the reflected wave sampled by the high-speed ADC sampling module through Fourier transform.
7. The method for detecting the garbage capacity of the garbage bin of the sweeping robot as claimed in claim 1, 2, 3 or 6, further comprising the following steps:
and repeating the steps to obtain a plurality of garbage capacities, calculating the average value of the garbage capacities, and taking the average value as the garbage capacity.
8. The method for detecting the garbage capacity of the garbage bin of the sweeping robot as claimed in claim 1, wherein before the step of emitting the ultrasonic waves to the garbage in the garbage bin through the ultrasonic sensor and obtaining the ultrasonic waves reflected by the garbage surface, the method further comprises the following steps:
the garbage can is vibrated by the vibration mechanism.
9. The method for detecting the garbage capacity of the garbage bin of the sweeping robot according to claim 1, characterized by further comprising the following steps:
and judging whether the sweeping robot is in a sweeping mode, if so, transmitting ultrasonic waves to the garbage in the garbage can through the ultrasonic sensor.
10. A system for detecting the volume of a dustbin of a sweeping robot is characterized by comprising the dustbin, an ultrasonic sensor and a processing unit, wherein the dustbin, the ultrasonic sensor and the processing unit are arranged in the sweeping robot;
the ultrasonic sensor is located above the bottom of the dustbin, the processing unit is connected with the ultrasonic sensor, and the processing unit is used for executing the method for detecting the garbage capacity of the dustbin of the sweeping robot in any one of claims 1 to 9.
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